Hey @astralien3000! Pretty cool to hear about your updates. Very well done and thanks for sharing it and keeping all of us posted.
We are also looking at ROS 2 in microcontrollers as part of a European project and after a look at the structure of the code, I think we can inspire quite a bit from you. Our objective, is to end up with a "framework for microcontrollers" that should supports different alternatives for underlying RTOS, communication middlewares, etc. In particular, for the RTOS, we are looking at using NuttX ([link](
https://github.com/microROS/NuttX) to our fork). Given the maturity of your work (which to me seems much more advanced than ours) I think it's worth to try re-using your structure and eventually converge if possible.
Provided that this sounds good to you, I'm up for spending some time researching your code and try putting together a prototype of your system with NuttX as the underlying RTOS. Would you be willing to support us if we do so? Ideally we could end up submitting a PR to your code with NuttX support (which from a hardware perspective, opens up your system to many more possibilities). How does this sound?
Cheers,
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